diff --git a/drivers/remoteproc/pru_rproc.c b/drivers/remoteproc/pru_rproc.c
index c16242e2d435..f6ea445d2fa2 100644
--- a/drivers/remoteproc/pru_rproc.c
+++ b/drivers/remoteproc/pru_rproc.c
@@ -120,6 +120,7 @@ struct pru_private_data {
  * @mapped_irq: virtual interrupt numbers of created fw specific mapping
  * @pru_interrupt_map: pointer to interrupt mapping description (firmware)
  * @pru_interrupt_map_sz: pru_interrupt_map size
+ * @rmw_lock: lock for read, modify, write operations on registers
  * @dbg_single_step: debug state variable to set PRU into single step mode
  * @dbg_continuous: debug state variable to restore PRU execution mode
  * @evt_count: number of mapped events
@@ -137,6 +138,7 @@ struct pru_rproc {
 	unsigned int *mapped_irq;
 	struct pru_irq_rsc *pru_interrupt_map;
 	size_t pru_interrupt_map_sz;
+	spinlock_t rmw_lock;
 	u32 dbg_single_step;
 	u32 dbg_continuous;
 	u8 evt_count;
@@ -153,6 +155,23 @@ void pru_control_write_reg(struct pru_rproc *pru, unsigned int reg, u32 val)
 	writel_relaxed(val, pru->mem_regions[PRU_IOMEM_CTRL].va + reg);
 }
 
+static inline
+void pru_control_set_reg(struct pru_rproc *pru, unsigned int reg,
+			 u32 mask, u32 set)
+{
+	u32 val;
+	unsigned long flags;
+
+	spin_lock_irqsave(&pru->rmw_lock, flags);
+
+	val = pru_control_read_reg(pru, reg);
+	val &= ~mask;
+	val |= (set & mask);
+	pru_control_write_reg(pru, reg, val);
+
+	spin_unlock_irqrestore(&pru->rmw_lock, flags);
+}
+
 static struct rproc *__pru_rproc_get(struct device_node *np, int index)
 {
 	struct rproc *rproc;
@@ -269,6 +288,45 @@ void pru_rproc_put(struct rproc *rproc)
 }
 EXPORT_SYMBOL_GPL(pru_rproc_put);
 
+/**
+ * pru_rproc_set_ctable() - set the constant table index for the PRU
+ * @rproc: the rproc instance of the PRU
+ * @c: constant table index to set
+ * @addr: physical address to set it to
+ *
+ * Return: 0 on success, or errno in error case.
+ */
+int pru_rproc_set_ctable(struct rproc *rproc, enum pru_ctable_idx c, u32 addr)
+{
+	struct pru_rproc *pru = rproc->priv;
+	unsigned int reg;
+	u32 mask, set;
+	u16 idx;
+	u16 idx_mask;
+
+	if (IS_ERR_OR_NULL(rproc))
+		return -EINVAL;
+
+	if (!rproc->dev.parent || !is_pru_rproc(rproc->dev.parent))
+		return -ENODEV;
+
+	/* pointer is 16 bit and index is 8-bit so mask out the rest */
+	idx_mask = (c >= PRU_C28) ? 0xFFFF : 0xFF;
+
+	/* ctable uses bit 8 and upwards only */
+	idx = (addr >> 8) & idx_mask;
+
+	/* configurable ctable (i.e. C24) starts at PRU_CTRL_CTBIR0 */
+	reg = PRU_CTRL_CTBIR0 + 4 * (c >> 1);
+	mask = idx_mask << (16 * (c & 1));
+	set = idx << (16 * (c & 1));
+
+	pru_control_set_reg(pru, reg, mask, set);
+
+	return 0;
+}
+EXPORT_SYMBOL_GPL(pru_rproc_set_ctable);
+
 static inline u32 pru_debug_read_reg(struct pru_rproc *pru, unsigned int reg)
 {
 	return readl_relaxed(pru->mem_regions[PRU_IOMEM_DEBUG].va + reg);
@@ -940,6 +998,7 @@ static int pru_rproc_probe(struct platform_device *pdev)
 	pru->rproc = rproc;
 	pru->fw_name = fw_name;
 	pru->client_np = NULL;
+	spin_lock_init(&pru->rmw_lock);
 	mutex_init(&pru->lock);
 
 	for (i = 0; i < ARRAY_SIZE(mem_names); i++) {
diff --git a/include/linux/remoteproc/pruss.h b/include/linux/remoteproc/pruss.h
index 579dafbbaccf..039b50d58df2 100644
--- a/include/linux/remoteproc/pruss.h
+++ b/include/linux/remoteproc/pruss.h
@@ -28,13 +28,29 @@ enum pruss_pru_id {
 	PRUSS_NUM_PRUS,
 };
 
+/*
+ * enum pru_ctable_idx - Configurable Constant table index identifiers
+ */
+enum pru_ctable_idx {
+	PRU_C24 = 0,
+	PRU_C25,
+	PRU_C26,
+	PRU_C27,
+	PRU_C28,
+	PRU_C29,
+	PRU_C30,
+	PRU_C31,
+};
+
 struct device_node;
+struct rproc;
 
 #if IS_ENABLED(CONFIG_PRU_REMOTEPROC)
 
 struct rproc *pru_rproc_get(struct device_node *np, int index,
 			    enum pruss_pru_id *pru_id);
 void pru_rproc_put(struct rproc *rproc);
+int pru_rproc_set_ctable(struct rproc *rproc, enum pru_ctable_idx c, u32 addr);
 
 #else
 
@@ -46,6 +62,12 @@ pru_rproc_get(struct device_node *np, int index, enum pruss_pru_id *pru_id)
 
 static inline void pru_rproc_put(struct rproc *rproc) { }
 
+static inline int pru_rproc_set_ctable(struct rproc *rproc,
+				       enum pru_ctable_idx c, u32 addr)
+{
+	return -EOPNOTSUPP;
+}
+
 #endif /* CONFIG_PRU_REMOTEPROC */
 
 static inline bool is_pru_rproc(struct device *dev)